Transport jig and transport jig kit

Abstract

A transport jig (1) which comprises a metal flat plate and is detachably attached to a vertical support surface (113) provided on the outer surface (112) of a mechanism member (111) of a robot (100), the transport jig being provided with: one or more bolt holes which penetrate in the plate thickness direction and are provided at positions corresponding to screw holes provided in the support surface (113), and which are provided in the direction of the plate thickness; the bolt can penetrate through and be fastened in the threaded hole; and an extension part (5) that extends in the form of a cantilever beam toward the outside of the mechanism member (111) in the horizontal direction along the support surface (113) when fixed to the support surface (113) by being fastened to the threaded hole by a bolt passing through the bolt hole, the extension part (5) being provided with one or more supported surfaces (2i, 5b), the supported surfaces (2i, 5b) extending in the plate thickness direction, and the supported surfaces (2i, 5b) extending in the plate thickness direction when fixed to the support surface (113). The robot (100) is disposed horizontally downward from a position where the installation surface of the robot (100) is higher than the thickness of the fork (F) of the forklift.

Description

Technical Field

[0001] This invention relates to a transport clamp and a transport clamp kit. Background Technology

[0002] A robot is known to have a fork-receiving component mounted on the outer surface of its slewing base for inserting the forks of the forklift in order to enable it to be transported by a forklift (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2005-131715 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When using forklift transport robots, it is necessary to lift and install the heavy, large fork-bearing components to the slewing base, thus requiring equipment such as cranes. Furthermore, manually lifting these components would place a significant burden on the operators.

[0008] Therefore, it is desirable to improve the operability when using forklifts to transport robots.

[0009] Solution for solving the problem

[0010] One aspect of the present invention is a transport clamp, characterized in that it is made of a metal plate and is detachably mounted to a vertical support surface on the outer surface of a robot's mechanism component. The transport clamp includes: one or more bolt holes that penetrate along the thickness direction of the plate and are located at positions corresponding to threaded holes provided on the support surface, and bolts that are fastened to the threaded holes can pass through them; and an extension that, when fixed to the support surface by bolts passing through the bolt holes and fastened to the threaded holes, extends in a cantilever beam shape along the horizontal direction of the support surface toward the outer side of the mechanism component. The extension has one or more supported surfaces that extend along the thickness direction of the plate and, when fixed to the support surface, are horizontally positioned downwards from a position where the thickness of the robot's mounted surface is greater than that of the forklift's forks. Attached Figure Description

[0011] Figure 1 This is a perspective view showing a portion of a robot equipped with a transport gripper kit according to the first embodiment of the present invention.

[0012] Figure 2 This is a perspective view showing a transport clamp according to a first embodiment of the present invention.

[0013] Figure 3 This is an explanation Figure 1 A diagram illustrating another transportation method for robots.

[0014] Figure 4 It is shown Figure 2 A perspective view of the first modified example of a transport clamp.

[0015] Figure 5 It is shown Figure 2 A perspective view of a second variant of the transport clamp. Detailed Implementation

[0016] The following description, with reference to the accompanying drawings, describes a transport clamp 1 and a transport clamp kit 10 according to an embodiment of the present invention.

[0017] For example, such as Figure 1 As shown, the transport gripper 1 in this embodiment is the gripper used when using the forklift transport robot 100. Furthermore, the transport gripper kit 10 in this embodiment consists of four transport grippers 1.

[0018] First, the structure of the robot 100 transported using the transport jig 1 and transport jig kit 10 of this embodiment will be described.

[0019] Robot 100, for example, is a vertical six-axis articulated robot. Figure 1 As shown, the robot 100 includes: a base 110 disposed on a horizontal surface such as the ground; and a rotating body 120 supported relative to the base 110 so as to be rotatable about a vertical first axis J1. Additionally, the robot 100 includes: a first arm 130 supported relative to the rotating body 120 so as to be rotatable about a horizontal second axis J2. Furthermore, the robot 100 includes: a second arm (not shown) supported so as to be rotatable relative to the front end of the first arm 130; and a three-axis wrist unit (not shown) mounted on the front end of the second arm.

[0020] The base 110 is a box-shaped component and has a bottom surface 111 that is flush with and fixed to the ground. The base 110 also has side walls (outer surfaces) 112 on both sides of the bottom surface 111 along the horizontal direction (here, the front-rear direction of the robot 100). Support surfaces 113 are provided at both ends of each side wall 112 in the horizontal direction (the left-right direction of the robot 100). Each support surface 113 extends vertically and has three threaded holes (not shown in the figure).

[0021] The transport gripper 1 in this embodiment is a gripper installed on the support surface 113 of the base 110 of the robot 100 when using a forklift to transport the robot 100. For example... Figure 2 As shown, the transport clamp 1 is a rectangular flat plate component with a horizontal length, which is formed by cutting or melting flat steel.

[0022] The transport fixture 1 has: a rectangular through hole 2 extending along the thickness direction of the plate, and three bolt holes 3 also extending along the thickness direction of the plate. The through hole 2 has a long side that is sufficiently longer than the width of the forklift fork F, and a short side that is sufficiently longer than the thickness of the forklift fork F.

[0023] Three bolt holes 3 are disposed on one side of the long side of the through hole 2. Each of the three bolt holes 3 has an inner diameter of a bolt S capable of passing through the threaded hole of each support surface 113 of the base 110 and fastening it. In the example shown in this embodiment, the threaded holes of each support surface 113 are arranged in a row at a certain interval in the vertical direction. Therefore, the bolt holes 3 of the transport clamp 1 are also arranged in a row parallel to the short side of the rectangular through hole 2 at the same certain interval as the threaded holes of each support surface 113.

[0024] Furthermore, in this embodiment, the three bolt holes 3 are positioned relative to the rectangular through hole 2, biased towards the shorter side. Figure 2 In the example shown, the transport clamp 1 has a protrusion 4 that causes a portion of its rectangular shape to protrude along the short side of the through hole 2. Three bolt holes 3 are formed at least one of which is located at the protrusion 4.

[0025] In this case, the portion of the transport clamp 1 with the through hole 2 becomes the extension 5. Furthermore, among the inner surfaces of the two long sides constituting the through hole 2, the inner surface opposite to the protrusion 4 becomes the supported surface 2i that bears the forklift forks F.

[0026] The function of the transport clamp 1 and the transport clamp kit 10 configured as described in this embodiment will be explained as follows.

[0027] When using the transport clamp 1 and transport clamp kit 10 of this embodiment to transport the robot 100, the transport clamp 1 is fixed to the four support surfaces 113 provided on the base 110.

[0028] When the transport clamp 1 is fixed to the base 110, the transport clamp 1 is supported in a position where three bolt holes 3 are arranged diagonally below the through hole 2, and the transport clamp 1 is brought close to the support surface 113 of the base 110. Since the transport clamp 1 is a flat component cut from a flat piece of steel, any surface in the thickness direction can become a mounting surface that can be tightly attached to the support surface 113. Therefore, as the transport clamp kit 10 of this embodiment, four transport clamps 1 of the same shape are used, two of which use the surface on one side in the thickness direction as the mounting surface, and the other two use the surface on the other side in the thickness direction as the mounting surface.

[0029] Specifically, when aligning the three bolt holes 3 with the three threaded holes on the support surface 113, the surface on the side of the through hole 2 positioned horizontally (left-right direction of the robot 100) relative to the base 110 is selected as the mounting surface. Then, as... Figure 1 As shown, the bolts S inserted into each bolt hole 3 are tightened into the threaded holes of the support surface 113. Thus, the transport clamp 1 is fixed to the base 110.

[0030] Each transport clamp 1, fixed to one of the four support surfaces 113 of the base 110, is arranged with its extension 5 extending outward toward the base 110 in a cantilever beam shape along the horizontal direction (left-right direction of the robot 100) of the support surface 113. In addition, the rectangular through hole 2 provided in the extension 5 is arranged such that the inner surface forming the long side extends horizontally.

[0031] At this time, two transport grippers 1, fixed on two opposite support surfaces 113 separated by the base 110, are respectively positioned so that the through holes 2 are aligned at predetermined intervals along the front-rear direction of the robot 100. Furthermore, the two transport grippers 1, fixed on the two support surfaces 113 arranged on the same plane, are respectively positioned at predetermined intervals that allow the two forks F of the forklift to be inserted through the through holes 2 along the left-right direction of the robot 100.

[0032] Next, the workers removed the bolts securing the ground to the base 110 and the bottom surface 111 of the base 110. Thus, the robot 100 was placed on the ground in a movable manner.

[0033] The operator operates the forklift, for example, by bringing the front ends of the two forks F of the forklift closer from behind the robot 100 to the through holes 2 of the two transport grippers 1 mounted on the support surface 113 on the rear side of the base 110. Then, after aligning the height of the forks F with the height of the through holes 2, the forklift is slowly moved forward, and the two forks F are respectively inserted into the through holes 2 of the support surface 113 on the rear side of the base 110.

[0034] Then, the forklift is moved forward further, thereby inserting the front ends of the two forks F into the through holes 2 of the two transport clamps 1 mounted on the support surface 113 on the front side of the base 110. Thus, the base end of each fork F passes through the through holes 2 of the two transport clamps 1 fixed on the support surface 113 on the back side of the base 110, and the front end of each fork F passes through the through holes 2 of the two transport clamps 1 fixed on the support surface 113 on the front side.

[0035] Next, from this state, the forklift forks F are raised vertically upwards, so that the upper surfaces of the base end side and the front end side of the two forks F are respectively pressed against the supported surfaces 2i of the inner surfaces above the through holes 2 of the four transport clamps 1. Then, the two forks F are raised further, so that the supported surfaces 2i of the four transport clamps 1 are pushed upwards by the two forks F, and the base 110 is lifted off the ground.

[0036] Thus, the robot 100 is lifted by the two forks F of the forklift via four transport grippers 1 mounted on the base 110. Then, while the robot 100 is lifted, the robot 100 can be moved to the desired position by moving the forklift.

[0037] In this case, the supported surface 2i that contacts the upper surface of the forklift fork F is the inner surface of the through hole 2 formed along the thickness direction of the transport clamp 1. Therefore, when lifting the robot 100, a large upward force applied from the upper surface of each fork F can be borne by the plane extending along the thickness direction.

[0038] Therefore, as long as the plate thickness of the flat transport clamp 1 is made sufficiently thick, the supported surface 2i can distribute the force received from the upper surface of the forks F and provide support, thereby ensuring sufficient strength. In this case, since the transport clamp 1 is a component cut from a flat piece of steel, even with a plate thickness that ensures sufficient strength, its weight is such that an operator can lift it with one hand.

[0039] Therefore, it has the advantages of enabling lightweight transport fixture 1 and improving operability when using forklift transport robot 100.

[0040] Furthermore, in this embodiment, the two forks F of the forklift are respectively passed through the through holes 2 of the transport clamp 1. Therefore, during transportation, the forks F are held within the through holes 2 of the transport clamp 1, preventing the forks F from detaching from the transport clamp 1.

[0041] That is, during the process of using a forklift to transport the robot 100, even if the forks F are subjected to large vibrations or impacts due to uneven road surfaces, the robot 100 can be kept in a raised state without falling.

[0042] Furthermore, in this embodiment, the three bolt holes 3 of the transport clamp 1 are arranged in a direction biased towards the shorter side relative to the through hole 2. In addition, by fixing the transport clamp 1 to the base 110 with the three bolt holes 3 arranged diagonally below the through hole 2, the transport clamp 1 can be positioned at a distance spaced from the ground upwards.

[0043] The result is, as Figure 3 As shown, the lower surfaces of the extensions 5 of the four transport clamps 1 can also be used as the supported surfaces 5b for pressing the upper surfaces of the two forks F. Furthermore, since the lower surfaces of the extensions 5 are positioned lower than the through holes 2, a device capable of lifting at a relatively low position, such as an electric or manual lift, can be used instead of a forklift. In this case, when the forks F are positioned below the supported surfaces 5b of the four transport clamps 1, it is not necessary to adjust the height of the forks F; they can simply be lowered to their lowest position.

[0044] In this embodiment, the bolt hole 3 is positioned offset from the through hole 2 along the shorter side, but it is also possible to position the bolt hole 3 symmetrically along the shorter side. Therefore, a simpler rectangular transport clamp 1 can be constructed without the need for the protrusion 4.

[0045] Even with this configuration, depending on the position of the support surface 113 of the base 110, the transport clamp 1 can be fixed at a position where the inner surface of the through hole 2 and the lower surface of the extension 5 can be selected as the supported surfaces.

[0046] In addition, in this embodiment, the three bolt holes 3 are arranged in a row along the short side of the through hole 2, but it is not limited to this and can be formed by any other arrangement.

[0047] In this embodiment, the example shown is of fixing the transport clamp 1 to the base 110 using bolts S. Alternatively, an abutment surface may be provided on the base 110, which abuts against a portion of the transport clamp 1 when the transport clamp 1 is fixed to the base 110 using bolts S. As an abutment surface, a step may be provided on a portion of the support surface 113, thereby abutting against the end face of the transport clamp 1. Alternatively, a pin may be used to fix the transport clamp 1 and the base 110 in a positioning state.

[0048] In this case, since the inner diameter of the bolt hole is usually larger than the outer diameter of the bolt, the position of the through hole 2 of the transport clamp 1 varies within the gap between the bolt S and the bolt hole 3. However, by abutting a part of the transport clamp 1 against the abutment surface, or by using a pin for positioning, it is possible to prevent the position of the transport clamp 1 from changing, thereby keeping the supported surfaces 2i and 5b of the four transport clamps 1 in the same plane with high precision.

[0049] In addition, in this embodiment, a rectangular through hole 2 is illustrated, but any other shape of through hole 2 can be used as long as it can be inserted into the forklift fork F and has the shape of the supported surface that pushes the upper surface of the forklift fork F.

[0050] In addition, in this embodiment, such as Figure 4 As shown, the through hole 2 of the transport clamp 1 can also be omitted. In this case, when the transport clamp 1 is mounted on the corresponding support surface 113, the lower surface of the extension 5 protruding outward in the left-right direction of the base 110 can be used as the supported surface 5b. This allows for a simpler and more compact shape for the transport clamp 1. Therefore, further weight reduction of the transport clamp 1 is achieved, and the manufacturability of the transport clamp 1 is improved.

[0051] In addition, in this case, such as Figure 5 As shown, a protrusion 5p that protrudes further downward than the supported surface 5b can also be provided at the front end of the extension 5 of the transport clamp 1 along its length. Thus, when the upper surfaces of the two forks F contact the supported surfaces 5b of the four transport clamps 1, the protrusion 5p is positioned on the outer side in a horizontal direction orthogonal to the long axis of each fork F. Therefore, it is possible to suppress the offset between the upper surfaces of the forks F and the supported surfaces 5b during transport, thereby preventing the lifted robot 100 from falling.

[0052] Furthermore, in this embodiment, the example of mounting four transport grippers 1 on the base 110 is described, but the mechanism components of the robot 100 that mounts the transport grippers 1 are not limited to the base 110. For example, the transport grippers 1 may also be fixed to the support surface 113 provided on the rotating body 120.

[0053] In addition, in this embodiment, a transport clamp kit 10 having four transport clamps 1 of the same shape is described as an example, but the four transport clamps 1 of the transport clamp kit 10 may also have different shapes.

[0054] For example, the shape of the transport clamp 1 can be different depending on the position of the support surface 113 provided on the base 110 and the position or spacing of the threaded holes formed on the support surface 113.

[0055] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and essence of the invention, or without departing from the content of the claims and the ideas and spirit of the invention derived from their equivalents. For example, in the above embodiments, the order of each action and the order of each process are shown as an example and are not limited thereto.

[0056] The following notes further disclose the above-described embodiments and variations.

[0057] Postscript 1

[0058] A transport clamp is constructed of a metal plate and is detachably mounted to a vertical support surface on the outer surface of a robot's mechanism component. The transport clamp includes: one or more bolt holes penetrating along the plate thickness direction and located at positions corresponding to threaded holes on the support surface, through which bolts fastened to the threaded holes can pass; and an extension that, when fixed to the support surface by bolts passing through the bolt holes and fastened to the threaded holes, extends in a cantilever beam shape along the horizontal direction of the support surface toward the outer side of the mechanism component. The extension has one or more supported surfaces extending along the plate thickness direction and, when fixed to the support surface, is horizontally positioned downwards from a position on the robot's mounting surface that is thicker than the forklift's forks.

[0059] Appendix 2

[0060] According to Appendix 1, the transport clamp is a base disposed on the surface to be set.

[0061] Appendix 3

[0062] According to Appendix 1 or Appendix 2, the supported surface is the inner surface of a through hole formed along the thickness direction of the plate.

[0063] Appendix 4

[0064] According to any one of Appendix 1 to Appendix 3, the supported surface is the surface that directly faces the set surface when fixed to the supporting surface.

[0065] Appendix 5

[0066] According to Appendix 4, the transport clamp has a protrusion on the front end side of the supported surface that protrudes further downward than the supported surface.

[0067] Appendix 6

[0068] A transport clamp kit comprising four transport clamps as described in any one of Appendices 1 to 4.

[0069] By fixing two pairs of transport clamps to parallel support surfaces that are separated from the mechanism components in the horizontal direction, the supported surfaces of the four transport clamps can be arranged on the same plane.

[0070] Explanation of reference numerals in the attached figures

[0071] 1: Transport clamps

[0072] 2: Through hole

[0073] 2i: Supported surface

[0074] 3: Bolt holes

[0075] 5: Extension section

[0076] 5p: convex part

[0077] 5b: Supported surface

[0078] 100: Robot

[0079] 110: Base (constituent component)

[0080] 112: Side wall surface (outer surface)

[0081] 113: Support surface

[0082] F: Forklift

[0083] S: Bolt

Claims

1. A transport clamp, characterized in that, The transport clamp is made of a metal plate and is detachably mounted to the vertical support surface on the outer surface of the robot's mechanical components. The transport clamp includes: One or more bolt holes are provided, which extend along the thickness of the plate and are located at positions corresponding to the threaded holes provided on the support surface, and are capable of being used to fasten bolts to the threaded holes; as well as The extension, which is fixed to the support surface by being fastened to the threaded hole by the bolt passing through the bolt hole, extends in a cantilever beam shape toward the outside of the mechanism component in the horizontal direction along the support surface. The extension has one or more supported surfaces that extend along the thickness direction of the plate and, when fixed to the supported surfaces, are horizontally positioned downwards from a position where the thickness of the robot's set surface is greater than that of the forklift's forks.

2. The transport clamp according to claim 1, characterized in that, The mechanism component is a base disposed on the surface on which it is disposed.

3. The transport clamp according to claim 1 or 2, characterized in that, The supported surface is the inner surface of a through hole formed along the thickness direction of the plate.

4. The transport clamp according to any one of claims 1 to 3, characterized in that, The supported surface is the surface that is directly opposite the set surface when it is fixed to the supporting surface.

5. The transport clamp according to claim 4, characterized in that, The front end of the supported surface has a protrusion that protrudes further downward than the supported surface.

6. A transport clamp kit, characterized in that, Equipped with any one of the four transport clamps as claimed in claims 1 to 4 By fixing two pairs of transport clamps to parallel support surfaces that are separated from the mechanism components in the horizontal direction, the supported surfaces of the four transport clamps can be arranged on the same plane.

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